Improved INS based on ZUPT for underground mine vehicles

According to the adverse condition of Underground Mine Vehicles (UMV), the Inertial Navigation System (INS) based on zero velocity update (ZUPT) for UMV applicable to a GPS-denied environment was proposed. The modeling of the linear discrete Kalman filter Feedback Referenced Accelerometer (IDKFFRA) was critical applied in ZUPT for data fusion of INS. The observable was employed in IDKF-FRG update to limit the growth of inertial navigation system error. Improving navigation accuracy was analyzed in different cases. Experiment results showed that navigation suite provided reliable accuracy for underground vehicle applications in mine environment.